CN107196410A - A kind of air-ground integral substation inspection system and method - Google Patents
A kind of air-ground integral substation inspection system and method Download PDFInfo
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- CN107196410A CN107196410A CN201610318900.XA CN201610318900A CN107196410A CN 107196410 A CN107196410 A CN 107196410A CN 201610318900 A CN201610318900 A CN 201610318900A CN 107196410 A CN107196410 A CN 107196410A
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- 238000007689 inspection Methods 0.000 title claims abstract description 213
- 238000000034 method Methods 0.000 title claims abstract description 30
- 238000001514 detection method Methods 0.000 claims abstract description 242
- 238000005259 measurement Methods 0.000 claims abstract description 47
- 238000004891 communication Methods 0.000 claims description 64
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- 230000007704 transition Effects 0.000 claims description 12
- 238000012544 monitoring process Methods 0.000 abstract description 2
- 238000005516 engineering process Methods 0.000 description 6
- 238000001931 thermography Methods 0.000 description 5
- 231100000572 poisoning Toxicity 0.000 description 4
- 230000000607 poisoning effect Effects 0.000 description 4
- 230000008439 repair process Effects 0.000 description 4
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- 230000005672 electromagnetic field Effects 0.000 description 2
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J13/00—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02B—BOARDS, SUBSTATIONS OR SWITCHING ARRANGEMENTS FOR THE SUPPLY OR DISTRIBUTION OF ELECTRIC POWER
- H02B3/00—Apparatus specially adapted for the manufacture, assembly, or maintenance of boards or switchgear
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y04—INFORMATION OR COMMUNICATION TECHNOLOGIES HAVING AN IMPACT ON OTHER TECHNOLOGY AREAS
- Y04S—SYSTEMS INTEGRATING TECHNOLOGIES RELATED TO POWER NETWORK OPERATION, COMMUNICATION OR INFORMATION TECHNOLOGIES FOR IMPROVING THE ELECTRICAL POWER GENERATION, TRANSMISSION, DISTRIBUTION, MANAGEMENT OR USAGE, i.e. SMART GRIDS
- Y04S10/00—Systems supporting electrical power generation, transmission or distribution
- Y04S10/16—Electric power substations
Abstract
The invention belongs to substation monitoring field, there is provided one kind air-ground integral substation inspection system and method.Air-ground integral substation inspection system includes ground inspection device and aerial detection means, the fixed platform for carrying aerial detection means is provided with the inspection device of ground, the inspection that ground inspection device reception control terminal is sent instructs and obtains the configuration information of measurement equipment to be checked, ground inspection device carries aerial detection means and is moved to preset target position, and corresponding detection instruction is sent to aerial detection means, the Detection task completed with controlling aerial detection means to fly to default observation position to the measurement equipment to be checked.The embodiment of the present invention is by the way that ground inspection device and aerial detection means are combined, so that the measurement equipment to be checked that is unable to reach or can not accurately detect for some ground inspection devices, the accurate detection to these measurement equipments to be checked can be completed by controlling aerial detection means, routing inspection efficiency and the inspection degree of accuracy is substantially increased.
Description
Technical field
The invention belongs to substation monitoring field, more particularly to a kind of air-ground integral substation inspection system
And method.
Background technology
Transformer station is the electric power facility of voltage of transformation, distribution electric energy and control electric power flow direction in power system,
It is got up the grid contact of each step voltage by transformer, is a very important link in power system.
Generally, the maintenance work of transformer station is completed by electric power operation maintenance personnel, and with intelligence
Change technology is continued to develop, and the intelligent inspection robot for being equipped with detection means gradually instead of electric power O＆M people
Member so that inspection the work more convenient purification and high efficiency of transformer station.Existing intelligent inspection robot possesses
Camera calibration and the ability of walking, smooth-riding surface that can be in transformer station are moved, and are equipped on intelligence
Detection means on crusing robot can realize vertical direction elevating movement and horizontal direction rotary motion, with full
Detection demand of the foot to the measurement equipment to be checked of different azimuth.
But, using existing intelligent inspection robot treat detection device carry out inspection when, it is necessary in power transformation
It is individually for intelligent inspection robot increasing in standing to repair roads, so that intelligent inspection robot can reach to be detected set
Standby vicinity, can so increase testing cost；And existing intelligent inspection robot is typically shorter and smaller,
Its detection means carried is fixedly mounted on robot body, and vertical due to detection means is bowed
Elevation angle degree and horizontal rotation angle are limited, therefore, for some away from major trunk roads and by the equipment on major trunk roads
The measurement equipment to be checked and some positions that block be higher and equipment in show window etc., intelligent inspection machine
The detection means that people is carried can not be made to it and accurately detect, detection efficiency and the degree of accuracy are relatively low, intelligence
The use of crusing robot is restricted.
The content of the invention
The purpose of the embodiment of the present invention is to provide a kind of air-ground integral substation inspection system and method, it is intended to
When solving to carry out inspection using existing intelligent inspection robot, it need to increase in transformer station and repair roads, add
Testing cost, and existing intelligent inspection robot are shorter and smaller, the fixed peace of its detection means carried
On robot body, it is impossible to realize to some inspections away from the higher measurement equipment to be checked of major trunk roads or position
The problem of survey.
The embodiment of the present invention is achieved in that a kind of air-ground integral substation inspection system, described air-ground one
Body substation inspection system carries out radio communication, the air-ground integral substation inspection system bag with control terminal
Include：It is controlled by the ground inspection device of the control terminal and is controlled by the aerial of the ground inspection device
Detection means；
The ground inspection device includes positioning navigation module, first communication module and the first main control module, institute
The first main control module is stated while being connected with the positioning navigation module and the first communication module, the ground
The fixed platform for carrying the aerial detection means is provided with inspection device；
The aerial detection means includes detection module, the second main control module and second communication module, described the
Two main control modules are connected with the detection module and the second communication module simultaneously；
The inspection that the ground inspection device is sent by the first communication module reception control terminal refers to
The configuration information of measurement equipment to be checked is made and obtains, the configuration information includes what the ground inspection device was stopped
Preset target position information and the default observation position information of the aerial detection means hovering；First master
Module is controlled according to the configuration information and the location information of the positioning navigation module, control is equipped with the sky
The ground inspection device of middle detection means is moved to preset target position；The ground inspection device passes through
The first communication module sends corresponding detection instruction to the second communication module；The second master control mould
The detection that root tuber is received according to the second communication module is instructed, and controls the aerial detection means to fly to pre-
If being hovered after observation position, and the detection module is controlled to detect the measurement equipment to be checked.
Further, the ground inspection device also includes power module, the power module and described first
Main control module is connected, and is provided with the first charging contact in the fixed platform, first charging contact meets institute
State power module；
Second charging contact corresponding with first charging contact is provided with the aerial detection means,
Second charging contact connects second main control module；
After the aerial detection means completes Detection task, examined in the air described in second master control module controls
Survey device to fly back to the ground inspection device and rest in the fixed platform, so that the power module
Entered by first charging contact and second charging contact that contact with each other for the aerial detection means
Row charging.
Further, multiple infrared transmitters, the multiple infrared light are additionally provided with the fixed platform
Transmitter physical layout is into predetermined pattern；
Infrared camera, the infrared camera and second master control are installed in the aerial detection means
Module is connected；
The infrared camera is gathered in real time to the predetermined pattern, and by the infrared light pattern collected
Transmit to second main control module, second main control module calculates the sky according to the infrared light pattern
Middle detection means and the relative position information of the ground inspection device, and adjusted according to the relative position information
The movement locus of the whole aerial detection means, so that the aerial detection means is hovered to default observation position.
Further, the aerial detection means and the relative position information of the ground inspection device include：
Azimuth information, elevation information and range information of the aerial detection means relative to the ground inspection device；
Believe in the orientation obtained according to following formula by the aerial detection means relative to the ground inspection device
The transition matrix that breath, elevation information, the parameter information of range information and the infrared camera are constituted：
T=NM-1；
Wherein, T is the azimuth information by the aerial detection means relative to the ground inspection device, height
The transition matrix that the parameter information of degree information, range information and the infrared camera is constituted, M is institute
State multiple infrared transmitter physical layouts into predetermined pattern eigenmatrix, N be the infrared camera
The eigenmatrix of the infrared light pattern collected in real time.
Present invention also offers a kind of air-ground one based on air-ground integral substation inspection system described above
Substation inspection method, the air-ground integral substation inspection method includes：
The inspection that the ground inspection device is sent by the first communication module reception control terminal refers to
Make and obtain the configuration information of measurement equipment to be checked；The configuration information includes what the ground inspection device was stopped
Preset target position information and the default observation position information of the aerial detection means hovering；
First main control module is according to the configuration information and the location information of the positioning navigation module, control
The ground inspection device that system is equipped with the aerial detection means is moved to preset target position；
The ground inspection device sends corresponding detection instruction to described second by the first communication module
Communication module；
The detection that second main control module is received according to the second communication module is instructed, and controls the sky
Middle detection means is flown to default observation position hovering, and controls the detection module to be detected to be set to described
It is standby to be detected.
Present invention also offers another air-ground one based on air-ground integral substation inspection system described above
Substation inspection method, the air-ground integral substation inspection method includes：
The inspection that the ground inspection device is sent by the first communication module reception control terminal refers to
Make and obtain the configuration information of measurement equipment to be checked；The configuration information includes what the ground inspection device was stopped
Preset target position information and the default observation position information of the aerial detection means hovering；
First main control module is according to the configuration information and the location information of the positioning navigation module, control
The ground inspection device that system is equipped with the aerial detection means is moved to preset target position；
The ground inspection device sends corresponding detection instruction to described second by the first communication module
Communication module；
The detection that second main control module is received according to the second communication module is instructed, and controls the sky
Middle detection means is flown to default observation position hovering, and controls the detection module to be detected to be set to described
It is standby to be detected；
Aerial detection means, which flies back to the ground, after the completion of detection, described in second master control module controls patrols
Checking device is simultaneously rested in the fixed platform so that the power module by contact with each other described first
Charging contact is that the aerial detection means is charged with second charging contact.
Present invention also offers it is another based on air-ground integral substation inspection system described above air-ground one
Body substation inspection method, the air-ground integral substation inspection method includes：
The inspection that the ground inspection device is sent by the first communication module reception control terminal refers to
Make and obtain the configuration information of measurement equipment to be checked；The configuration information includes what the ground inspection device was stopped
Preset target position information and the default observation position information of the aerial detection means hovering；
First main control module is according to the configuration information and the location information of the positioning navigation module, control
The ground inspection device that system is equipped with the aerial detection means is moved to preset target position；
The ground inspection device sends corresponding detection instruction to described second by the first communication module
Communication module；
The detection that second main control module is received according to the second communication module is instructed, and controls the sky
Middle detection means is taken off, and level is hovered in the air；
The infrared camera to by the multiple infrared transmitter physical layout into predetermined pattern carry out it is real
When gather, and the infrared light pattern collected is transmitted to second main control module；
Second main control module calculates the aerial detection means and the ground according to the infrared light pattern
The relative position information of inspection device, and the aerial detection means is adjusted according to the relative position information
Movement locus, so that the aerial detection means is hovered to default observation position.
Further, second main control module calculates the aerial detection means according to the infrared light pattern
With the relative position information of the ground inspection device, it is and described aerial according to relative position information adjustment
The step of movement locus of detection means, specifically includes：
Believe in the orientation obtained according to following formula by the aerial detection means relative to the ground inspection device
The transition matrix that breath, elevation information, the parameter information of range information and the infrared camera are constituted：
T=NM-1；
Wherein, T is the azimuth information by the aerial detection means relative to the ground inspection device, height
The transition matrix that the parameter information of degree information, range information and the infrared camera is constituted, M is institute
State multiple infrared transmitter physical layouts into predetermined pattern eigenmatrix, N be the infrared camera
The eigenmatrix of the infrared light pattern collected in real time；
Orientation of second main control module according to the aerial detection means relative to the ground inspection device
Information, elevation information and range information, adjust the movement locus of the aerial detection means, so that the sky
Middle detection means is hovered to default observation position.
In embodiments of the present invention, the air-ground integral substation inspection system includes ground inspection device and sky
The fixed platform for carrying aerial detection means, ground are provided with middle detection means, ground inspection device
The inspection that inspection device reception control terminal is sent is instructed and obtains the configuration information of measurement equipment to be checked, and ground is patrolled
Checking device carries aerial detection means and is moved to preset target position, and the corresponding detection of transmission is instructed to aerial
Detection means, is completed to the measurement equipment to be checked with controlling aerial detection means to fly to default observation position
Detection task.The embodiment of the present invention is by the way that ground inspection device and aerial detection means are combined so that right
The measurement equipment to be checked that is unable to reach or can not accurately detect in some ground inspection devices, can be aerial by control
Detection means completes the accurate detection to these measurement equipments to be checked, substantially increases routing inspection efficiency and inspection is accurate
Exactness, repairs roads while it also avoid being individually for intelligent inspection robot in transformer station and increase, has saved detection
Cost.
Brief description of the drawings
Fig. 1 is the function structure chart for the air-ground integral substation inspection system that first embodiment of the invention is provided；
Fig. 2 is the entity structure signal for the air-ground integral substation inspection system that first embodiment of the invention is provided
Figure；
Fig. 3 is ground inspection device in the air-ground integral substation inspection system that first embodiment of the invention is provided
With the entity structure schematic diagram of aerial detection means；
Fig. 4 is multiple infrared emissions in the air-ground integral substation inspection system that first embodiment of the invention is provided
The schematic diagram for the predetermined pattern that implements removing the work is set to；
Fig. 5 is the flow chart for the air-ground integral substation inspection method that second embodiment of the invention is provided；
Fig. 6 is the tool of step S104 in the air-ground integral substation inspection method that second embodiment of the invention is provided
Body flow chart.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, below in conjunction with accompanying drawing and reality
Example is applied, the present invention will be described in further detail.It should be appreciated that specific embodiment described herein is only
Only to explain the present invention, it is not intended to limit the present invention.
Embodiment one：
The first embodiment of the present invention provides a kind of air-ground integral substation inspection system.
Fig. 1 shows the module knot for the air-ground integral substation inspection system that first embodiment of the invention is provided
Structure, for convenience of description, illustrate only the part related to the embodiment of the present invention.
A kind of air-ground integral substation inspection system, the air-ground integral substation inspection system and control terminal
Radio communication is carried out, the air-ground integral substation inspection system includes：It is controlled by the ground of the control terminal
Face inspection device 1 and the aerial detection means 2 for being controlled by ground inspection device 1.
Ground inspection device 1 includes positioning navigation module 12, the main control module of first communication module 10 and first
11, the first main control module 11 is connected with positioning navigation module 12 and first communication module 10 simultaneously, and ground is patrolled
The fixed platform 14 for carrying aerial detection means 2 is provided with checking device 1.
Aerial detection means 2 includes detection module 22, the second main control module 20 and second communication module 21,
Second main control module 21 is connected with detection module 22 and second communication module 20 simultaneously.
The inspection that ground inspection device 1 is sent by the reception control terminal of first communication module 10 instructs acquisition to treat
The configuration information of detection device, the configuration information includes the preset target position that ground inspection device 1 is stopped
The default observation position information that information and aerial detection means 2 are hovered；First main control module 11 is matched somebody with somebody according to described
Confidence ceases the location information with positioning navigation module 12, and control is equipped with the ground inspection of aerial detection means 2
Device 1 is moved to preset target position；Ground inspection device 1 is sent accordingly by first communication module 10
Detection is instructed to second communication module 20；What the second main control module 21 was received according to second communication module 20
Detection instruction, controls aerial detection means 2 to fly to default observation position hovering, and control detection module
22, which treat detection device, is detected.
As one embodiment of the invention, positioning navigation module 12 specifically uses the SLAM based on laser radar
(Simultaneous Localization And Mapping are positioned and map structuring immediately) navigator fix technology.
SLAM navigator fixs technology can be such that robot is moved in circumstances not known since a unknown position,
Self poisoning is carried out according to location estimation and map in moving process, while being built on the basis of self poisoning
Increment type map, realizes autonomous positioning and the navigation of robot so that robot accurately rests in target location.
As one embodiment of the invention, detection module 22 include image unit, infrared thermal imaging unit and
Noise gathering unit.In actual applications, image unit can use high-definition camera, infrared thermal imaging list
Member can use existing infrared thermography, and noise gathering unit can use noise gathering sensor.More
Further, detection module 22 can also include other detection sensors, specifically can be according to the actual requirements
To configure.
In the present embodiment, the configuration information of the measurement equipment to be checked is specifically stored in ground inspection device 1
In database, the configuration information of the measurement equipment to be checked also includes：The attitude information of aerial detection means 2 with
And the parameter information of detection module 22.Specifically, the parameter information of detection module 22 includes image unit
The parameter information of parameter information, the parameter information of infrared thermal imaging unit and noise gathering unit.
In actual applications, control terminal can be the intelligent terminals such as mobile phone, flat board, PC or server.Ground
Face inspection device 1 can be intelligent robot, and the intelligent robot possesses Camera calibration and walking
Ability, smooth-riding surface that can be in transformer station is moved, and is provided with safety on the intelligence machine human body
Anticollision module, can effectively prevent robot from being collided in the process of walking with other equipment and to robot
Cause to damage.Aerial detection means 2 can be unmanned plane, and more excellent, aerial detection means 2 can be many
Rotor wing unmanned aerial vehicle.When performing patrol task, ground inspection device 1 and aerial detection means 2 can be to appointing
The multiple measurement equipments to be checked defined in business are detected one by one, are detected one by one to multiple measurement equipments to be checked
When, ground inspection device 1 will read the configuration information of measurement equipment to be checked one by one.
As one embodiment of the invention, first communication module 10 and second communication module 20 can be using indigo plants
Tooth module, WIFI module, ZIGBEE modules etc., can specifically be configured according to the actual requirements.
Fig. 2 shows the entity knot for the air-ground integral substation inspection system that first embodiment of the invention is provided
Structure, for convenience of description, illustrate only the part related to the embodiment of the present invention.
As one embodiment of the invention, ground inspection device 1 also includes power module 13, power module 13
It is connected with the first main control module 11, the first charging contact 15 is provided with fixed platform 14, the first charging is touched
Point 15 connects power module 13.
Second charging contact 23 corresponding with the first charging contact 15 is provided with aerial detection means 2,
Second charging contact 23 connects the second main control module 21.
After aerial detection means 2 completes Detection task, the second main control module 21 controls aerial detection means 2
Fly back to ground inspection device 1 and rest in fixed platform 14, so that power module 13 passes through phase mutual connection
The first tactile charging contact 15 is that aerial detection means 2 is charged with the second charging contact 23.
In the present embodiment, the first charging contact 15 is specifically arranged at the upper surface of fixed platform 14, second
Charging 23 is specifically arranged at the bottom surface of aerial detection means 2, when aerial detection means 2 rests against fixed platform
When on 14, the upper surface of fixed platform 14 is in contact with the bottom surface of aerial detection means 2.First charging is touched
Point 15 is not limited to only include a charging contact, likewise, the second charging contact 23 is not also limited
In only including a charging contact, but the quantity and position of the first charging contact 15 and the second charging contact 23
Relation is strict corresponding, when so just can guarantee that aerial detection means 2 is rested in fixed platform 14, the
One charging contact 15 and the corresponding contact of the second charging contact 23, with the aerial detection of 13 pairs of module that switches on power
The supply access that device 2 is powered.
As one embodiment of the invention, the side of fixed platform 14 is further opened with and aerial detection means 2
The corresponding foot stool guide groove of foot stool so that aerial detection means 2 when resting against in fixed platform 14,
Its foot stool is just fixed in the foot stool guide groove, it is ensured that the aerial port of call of detection means 2 is more steady
It is fixed.
In actual applications, due to there is strong power frequency electromagnetic field interference, therefore, traditional GPS/ in transformer station
The satellite fix mode such as Big Dipper, and rising in recent years the positioning side such as ZIGBEE/WIFI/ bluetooths/UWB
Formula, can not be positioned or the problem of position error is big, it is impossible to meet system due to easily by Electromagnetic Interference, existing
Requirement.Therefore, the present invention realizes the He of ground inspection device 1 by way of optics and vision are combined
Relative positioning between aerial detection means 2.
Fig. 3 shows ground inspection in the air-ground integral substation inspection system that first embodiment of the invention is provided
The entity structure of device and aerial detection means, for convenience of description, Fig. 3 illustrate only and present invention implementation
The related part of example.
As one embodiment of the invention, multiple infrared transmitters 16 are additionally provided with fixed platform 14,
Multiple physical layouts of infrared transmitter 16 are into predetermined pattern.
Infrared camera 24, the main control module of infrared camera 24 and second are installed in aerial detection means 2
Connection.
24 pairs of predetermined patterns of infrared camera are gathered in real time, and the infrared light pattern collected is passed
The second main control module 21 is transported to, the second main control module 21 calculates aerial detection means 2 according to infrared light pattern
With the relative position information of ground inspection device 1, and filled according to the aerial detection of relative position information adjustment
Put 2 movement locus so that aerial detection means 2 is hovered to default observation position.
In the present embodiment, will by setting mutual direction and the distance relation of multiple infrared transmitters 16
Multiple infrared transmitters 16 are arranged to predetermined pattern.
Fig. 4 shows multiple infrared in the air-ground integral substation inspection system that first embodiment of the invention is provided
Transmitter physical layout into predetermined pattern, for convenience of description, illustrate only related to the embodiment of the present invention
Part.
As one embodiment of the invention, aerial detection means 2 and the relative position of ground inspection device 1 are believed
Breath includes：Aerial detection means 2 is relative to the azimuth information of ground inspection device 1, elevation information and distance
Information.
According to following formula obtain by aerial detection means 2 relative to ground inspection device 1 azimuth information,
The transition matrix that the parameter information of elevation information, range information and infrared camera 24 is constituted：
T=NM-1；
Wherein, T is relative to the azimuth information of ground inspection device 1, highly letter by aerial detection means 2
The transition matrix that the parameter information of breath, range information and infrared camera 24 is constituted, M is multiple red
The outer physical layout of optical transmitting set 16 into predetermined pattern eigenmatrix, N be infrared camera 24 adopt in real time
The eigenmatrix of the infrared light pattern collected.
In the present embodiment, aerial detection means 2 is away from the different orientation of ground inspection device 1, different
Height and it is different apart from when, the infrared light pattern that infrared camera 24 is collected is different, and
The acquisition parameters of infrared camera can also influence the infrared light pattern that it is collected, and therefore, it can by above-mentioned
Method accurately determines the relative position information of aerial detection means 2 and ground inspection device 1 so that empty
Middle detection means 2 can accurately hover to default observation position, to complete the detection for treating detection device.
As one embodiment of the invention, aerial detection means 2 also includes memory module, the memory module
Information for storing the measurement equipment to be checked that detection module 22 is collected.
In the present embodiment, aerial detection means 2 information of the measurement equipment to be checked collected can be stored to
The memory module, can also be directly by second communication module 24 by the information of the measurement equipment to be checked collected
Transmit to ground inspection device 1.
Embodiment two：
The air-ground integral substation inspection system provided based on embodiment one, second embodiment of the invention is also carried
A kind of air-ground integral substation inspection method is supplied.
Fig. 5 shows the realization stream for the air-ground integral substation inspection method that second embodiment of the invention is provided
Journey, for convenience of description, illustrate only the part related to the embodiment of the present invention.
In step S101：The ground inspection device receives the control eventually by the first communication module
The inspection sent is held to instruct and obtain the configuration information of measurement equipment to be checked；The configuration information includes the ground
Preset target position information and the prediction observation bit confidence of the aerial detection means hovering that inspection device is stopped
Breath.
In the present embodiment, the configuration information of the measurement equipment to be checked is specifically stored in the ground inspection device
Database in, the configuration information of the measurement equipment to be checked also includes：The posture letter of the aerial detection means
The parameter information of breath and the detection module.
In actual applications, the control terminal can be the intelligent terminals such as mobile phone, flat board, PC or server.
The ground inspection device can be intelligent robot, and the intelligent robot possesses Camera calibration and row
Move the ability walked, smooth-riding surface that can be in transformer station.
In step s 102：First main control module is according to the configuration information and the positioning navigation module
Location information, control is equipped with the ground inspection device of the aerial detection means and is moved to default mesh
Cursor position.
In the present embodiment, the positioning navigation module specifically uses the SLAM based on laser radar
(Simultaneous Localization And Mapping are positioned and map structuring immediately) navigator fix technology.
SLAM navigator fixs technology can be such that robot is moved in circumstances not known since a unknown position,
Self poisoning is carried out according to location estimation and map in moving process, while being built on the basis of self poisoning
Increment type map, realizes autonomous positioning and the navigation of robot so that robot accurately rests in target location.
In actual applications, the aerial detection means can be unmanned plane, more excellent, the aerial detection
Device can be multi-rotor unmanned aerial vehicle.
In step s 103：The ground inspection device sends corresponding detection by the first communication module
Instruct to the second communication module.
In step S104：The detection that second main control module is received according to the second communication module refers to
Order, controls the aerial detection means to fly to default observation position hovering, and control the detection module
The measurement equipment to be checked is detected.
In the present embodiment, when treating detection device and being detected, the detection module can be by treating
Detection device is taken pictures, infrared thermal imaging, noise gathering etc., to obtain the corresponding information of measurement equipment to be checked.
When performing patrol task, the ground inspection device and the aerial detection means can be in tasks
Multiple measurement equipments to be checked of definition are detected one by one, when being detected one by one to multiple measurement equipments to be checked,
The ground inspection device will read the configuration information of measurement equipment to be checked one by one.
In the present embodiment, the first communication module and the second communication module can using bluetooth module,
WIFI module, ZIGBEE modules etc., can specifically be configured according to the actual requirements.
Based on being additionally provided with multiple infrared light emissions in the fixed platform described in first embodiment of the invention
Device, multiple infrared transmitter physical layouts are into predetermined pattern；It is provided with the aerial detection means infrared
Camera, the infrared camera is connected with the second main control module.Therefore, for above-mentioned steps S104, such as
Shown in Fig. 6, it specifically includes following steps：
Step S1041：The detection that second main control module is received according to the second communication module is instructed,
The aerial detection means is controlled to take off, and level is hovered in the air.
Step S1042：The infrared camera to by the multiple infrared transmitter physical layout into it is pre-
If pattern is gathered in real time, and the infrared light pattern collected is transmitted to second main control module.
Step S1043：Second main control module calculates the aerial detection according to the infrared light pattern and filled
The relative position information with the ground inspection device is put, and the sky is adjusted according to the relative position information
The movement locus of middle detection means, so that the aerial detection means is hovered to default observation position.
In actual applications, due to there is strong power frequency electromagnetic field interference, therefore, traditional GPS/ in transformer station
The satellite fix mode such as Big Dipper, and rising in recent years the positioning side such as ZIGBEE/WIFI/ bluetooths/UWB
Formula, can not be positioned or the problem of position error is big, it is impossible to meet system due to easily by Electromagnetic Interference, existing
Requirement.Therefore, the present invention realizes the ground inspection device by way of optics and vision are combined
Relative positioning between the aerial detection means.
Wherein, step S1043 specifically includes following steps：
Believe in the orientation obtained according to following formula by the aerial detection means relative to the ground inspection device
The transition matrix that breath, elevation information, the parameter information of range information and the infrared camera are constituted：
T=NM-1；
Wherein, T is the azimuth information by the aerial detection means relative to the ground inspection device, height
The transition matrix that the parameter information of degree information, range information and the infrared camera is constituted, M is institute
State multiple infrared transmitter physical layouts into predetermined pattern eigenmatrix, N be the infrared camera
The eigenmatrix of the infrared light pattern collected in real time；
Orientation of second main control module according to the aerial detection means relative to the ground inspection device
Information, elevation information and range information, adjust the movement locus of the aerial detection means, so that the sky
Middle detection means is hovered to default observation position.
In the present embodiment, the aerial detection means away from the different orientation of the ground inspection device, no
With height and it is different apart from when, the infrared light pattern that the infrared camera is collected be it is different,
And the acquisition parameters of infrared camera can also influence the infrared light pattern that it is collected, and therefore, it can pass through
The above method accurately determines that the relative position of the aerial detection means and the ground inspection device is believed
Breath so that the aerial detection means can accurately hover to observation position, to complete to treat detection device
Detection.
Power module, the electricity are also included based on the ground inspection device described in first embodiment of the invention
Source module is connected with first main control module, and the first charging contact is provided with the fixed platform, described
First charging contact connects power module；It is provided with the aerial detection means corresponding with the first charging contact
The second charging contact, second charging contact connects second main control module.Therefore, the present invention is also wrapped
Include step S105.
In step S105：After the completion of detection, aerial detection means described in second master control module controls flies
Be back to the ground inspection device and rest in the fixed platform so that the power module pass through it is mutual
First charging contact of contact is that the aerial detection means is charged with second charging contact.
In the present embodiment, the aerial detection means is fixed always to stop when being not carried out Detection task
In the fixed platform of the ground inspection device, to obtain electric energy from the power module.
As one embodiment of the invention, the air-ground integral substation inspection method also includes：
The aerial detection means passes the information of the measurement equipment to be checked collected by the second communication module
Transport to the ground inspection device.
In the present embodiment, when defining multiple measurement equipments to be checked in a patrol task, the ground
Inspection device and the aerial detection means detected one by one to multiple measurement equipments to be checked, the aerial detection
Device transmits the information of the measurement equipment to be checked collected to institute by the second communication module in real time one by one
Ground inspection device is stated, or the aerial detection means is deposited the information of the measurement equipment to be checked collected
Storage, when task to be inspected is completed, then by the second communication module by the multiple measurement equipments to be checked collected
Information all transmit to the ground inspection device, the ground inspection device output inspection report.
In embodiments of the present invention, the air-ground integral substation inspection system includes ground inspection device and sky
The fixed platform for carrying aerial detection means, ground are provided with middle detection means, ground inspection device
The inspection that inspection device reception control terminal is sent is instructed and obtains the configuration information of measurement equipment to be checked, and ground is patrolled
Checking device carries aerial detection means and is moved to preset target position, and the corresponding detection of transmission is instructed to aerial
Detection means, is completed to the measurement equipment to be checked with controlling aerial detection means to fly to default observation position
Detection task.The embodiment of the present invention is by the way that ground inspection device and aerial detection means are combined so that right
The measurement equipment to be checked that is unable to reach or can not accurately detect in some ground inspection devices, can be aerial by control
Detection means completes the accurate detection to these measurement equipments to be checked, substantially increases routing inspection efficiency and inspection is accurate
Exactness, repairs roads while it also avoid being individually for intelligent inspection robot in transformer station and increase, has saved detection
Cost.
One of ordinary skill in the art will appreciate that：The step of realizing above method embodiment or part steps can
To be completed by the related hardware of programmed instruction, foregoing program can be stored in embodied on computer readable storage
In medium, the program upon execution, performs the step of including above method embodiment, and foregoing storage is situated between
Matter includes：ROM, RAM, magnetic disc or CD etc. are various can be with the medium of store program codes.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in this hair
Any modifications, equivalent substitutions and improvements made within bright spirit and principle etc., should be included in the present invention
Protection domain within.
Claims (8)
1. a kind of air-ground integral substation inspection system, the air-ground integral substation inspection system is whole with control
End carries out radio communication, it is characterised in that the air-ground integral substation inspection system includes：It is controlled by institute
State the ground inspection device of control terminal and be controlled by the aerial detection means of the ground inspection device；
The ground inspection device includes positioning navigation module, first communication module and the first main control module, institute
The first main control module is stated while being connected with the positioning navigation module and the first communication module, the ground
The fixed platform for carrying the aerial detection means is provided with inspection device；
The aerial detection means includes detection module, the second main control module and second communication module, described the
Two main control modules are connected with the detection module and the second communication module simultaneously；
The inspection that the ground inspection device is sent by the first communication module reception control terminal refers to
The configuration information of measurement equipment to be checked is made and obtains, the configuration information includes what the ground inspection device was stopped
Preset target position information and the default observation position information of the aerial detection means hovering；First master
Module is controlled according to the configuration information and the location information of the positioning navigation module, control is equipped with the sky
The ground inspection device of middle detection means is moved to preset target position；The ground inspection device passes through
The first communication module sends corresponding detection instruction to the second communication module；The second master control mould
The detection that root tuber is received according to the second communication module is instructed, and controls the aerial detection means to fly to pre-
If being hovered after observation position, and the detection module is controlled to detect the measurement equipment to be checked.
2. air-ground integral substation inspection system as claimed in claim 1, it is characterised in that the ground
Inspection device also includes power module, and the power module is connected with first main control module, the fixation
The first charging contact is provided with platform, first charging contact connects the power module；
Second charging contact corresponding with first charging contact is provided with the aerial detection means,
Second charging contact connects second main control module；
After the aerial detection means completes Detection task, examined in the air described in second master control module controls
Survey device to fly back to the ground inspection device and rest in the fixed platform, so that the power module
Entered by first charging contact and second charging contact that contact with each other for the aerial detection means
Row charging.
3. air-ground integral substation inspection system as claimed in claim 2, it is characterised in that the fixation
It is additionally provided with multiple infrared transmitters on platform, the multiple infrared transmitter physical layout is into default figure
Case；
Infrared camera, the infrared camera and second master control are installed in the aerial detection means
Module is connected；
The infrared camera is gathered in real time to the predetermined pattern, and by the infrared light pattern collected
Transmit to second main control module, second main control module calculates the sky according to the infrared light pattern
Middle detection means and the relative position information of the ground inspection device, and adjusted according to the relative position information
The movement locus of the whole aerial detection means, so that the aerial detection means is hovered to default observation position.
4. air-ground integral substation inspection system as claimed in claim 3, it is characterised in that described aerial
Detection means and the relative position information of the ground inspection device include：The aerial detection means relative to
Azimuth information, elevation information and the range information of the ground inspection device；
Believe in the orientation obtained according to following formula by the aerial detection means relative to the ground inspection device
The transition matrix that breath, elevation information, the parameter information of range information and the infrared camera are constituted：
T=NM-1；
Wherein, T is the azimuth information by the aerial detection means relative to the ground inspection device, height
The transition matrix that the parameter information of degree information, range information and the infrared camera is constituted, M is institute
State multiple infrared transmitter physical layouts into predetermined pattern eigenmatrix, N be the infrared camera
The eigenmatrix of the infrared light pattern collected in real time.
5. a kind of air-ground integral transformer station of the air-ground integral substation inspection system based on described in claim 1
Method for inspecting, it is characterised in that the air-ground integral substation inspection method includes：
The inspection that the ground inspection device is sent by the first communication module reception control terminal refers to
Make and obtain the configuration information of measurement equipment to be checked；The configuration information includes what the ground inspection device was stopped
Preset target position information and the default observation position information of the aerial detection means hovering；
First main control module is according to the configuration information and the location information of the positioning navigation module, control
The ground inspection device that system is equipped with the aerial detection means is moved to preset target position；
The ground inspection device sends corresponding detection instruction to described second by the first communication module
Communication module；
The detection that second main control module is received according to the second communication module is instructed, and controls the sky
Middle detection means is flown to default observation position hovering, and controls the detection module to be detected to be set to described
It is standby to be detected.
6. a kind of air-ground integral transformer station of the air-ground integral substation inspection system based on described in claim 2
Method for inspecting, it is characterised in that the air-ground integral substation inspection method includes：
The inspection that the ground inspection device is sent by the first communication module reception control terminal refers to
Make and obtain the configuration information of measurement equipment to be checked；The configuration information includes what the ground inspection device was stopped
Preset target position information and the default observation position information of the aerial detection means hovering；
First main control module is according to the configuration information and the location information of the positioning navigation module, control
The ground inspection device that system is equipped with the aerial detection means is moved to preset target position；
The ground inspection device sends corresponding detection instruction to described second by the first communication module
Communication module；
The detection that second main control module is received according to the second communication module is instructed, and controls the sky
Middle detection means is flown to default observation position hovering, and controls the detection module to be detected to be set to described
It is standby to be detected；
Aerial detection means, which flies back to the ground, after the completion of detection, described in second master control module controls patrols
Checking device is simultaneously rested in the fixed platform so that the power module by contact with each other described first
Charging contact is that the aerial detection means is charged with second charging contact.
7. a kind of air-ground integral transformer station of the air-ground integral substation inspection system based on described in claim 3
Method for inspecting, it is characterised in that the air-ground integral substation inspection method includes：
The inspection that the ground inspection device is sent by the first communication module reception control terminal refers to
Make and obtain the configuration information of measurement equipment to be checked；The configuration information includes what the ground inspection device was stopped
Preset target position information and the default observation position information of the aerial detection means hovering；
First main control module is according to the configuration information and the location information of the positioning navigation module, control
The ground inspection device that system is equipped with the aerial detection means is moved to preset target position；
The ground inspection device sends corresponding detection instruction to described second by the first communication module
Communication module；
The detection that second main control module is received according to the second communication module is instructed, and controls the sky
Middle detection means is taken off, and level is hovered in the air；
The infrared camera to by the multiple infrared transmitter physical layout into predetermined pattern carry out it is real
When gather, and the infrared light pattern collected is transmitted to second main control module；
Second main control module calculates the aerial detection means and the ground according to the infrared light pattern
The relative position information of inspection device, and the aerial detection means is adjusted according to the relative position information
Movement locus, so that the aerial detection means is hovered to default observation position.
8. air-ground integral substation inspection method as claimed in claim 7, it is characterised in that described second
Main control module calculates the aerial detection means and the phase of the ground inspection device according to the infrared light pattern
To positional information, and the step of the movement locus according to the relative position information adjustment aerial detection means
Suddenly specifically include：
Believe in the orientation obtained according to following formula by the aerial detection means relative to the ground inspection device
The transition matrix that breath, elevation information, the parameter information of range information and the infrared camera are constituted：
T=NM-1；
Wherein, T is the azimuth information by the aerial detection means relative to the ground inspection device, height
The transition matrix that the parameter information of degree information, range information and the infrared camera is constituted, M is institute
State multiple infrared transmitter physical layouts into predetermined pattern eigenmatrix, N be the infrared camera
The eigenmatrix of the infrared light pattern collected in real time；
Orientation of second main control module according to the aerial detection means relative to the ground inspection device
Information, elevation information and range information, adjust the movement locus of the aerial detection means, so that the sky
Middle detection means is hovered to default observation position.
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| CN201610318900.XA CN107196410B (en) | 2016-05-13 | 2016-05-13 | ground transformer substation inspection system and method |
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|---|---|---|---|
| CN201610318900.XA CN107196410B (en) | 2016-05-13 | 2016-05-13 | ground transformer substation inspection system and method |
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| CN109240290A (en) * | 2018-09-04 | 2019-01-18 | 南京理工大学 | A kind of electric inspection process robot makes a return voyage determining method of path |
| CN110647082A (en) * | 2019-10-09 | 2020-01-03 | 宁波思高信通科技有限公司 | Intelligent inspection system for machine room and working method of intelligent inspection system |
| CN110715683A (en) * | 2019-09-03 | 2020-01-21 | 宿州山海经测地理信息科技有限公司 | Geographic information data acquisition device and data acquisition method |
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| CN112476461A (en) * | 2020-11-26 | 2021-03-12 | 云南电网有限责任公司昆明供电局 | Transformer substation inspection robot carrying unmanned aerial vehicle and inspection method |
| CN112598813A (en) * | 2020-12-01 | 2021-04-02 | 易瓦特科技股份公司 | Intelligent inspection system and inspection method thereof |
| CN113724413A (en) * | 2021-08-31 | 2021-11-30 | 深圳市慧旺电子有限公司 | Miniature electronic inspection system adaptive to dust-free vacuum workshop and inspection equipment thereof |
| CN116388034A (en) * | 2023-03-30 | 2023-07-04 | 江苏泽宇智能电力股份有限公司 | Remote substation inspection system capable of displaying images as inspection |
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